Add igniters and update flight control algorithm

1 files changed, 205 insertions, 0 deletions

diff --git a/ao_flight_test.c b/ao_flight_test.c
new file mode 100644
index 00000000..a88d2b14
--- /dev/null
+++ b/ao_flight_test.c
@@ -0,0 +1,205 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#define AO_ADC_RING	64
+#define ao_adc_ring_next(n)	(((n) + 1) & (AO_ADC_RING - 1))
+#define ao_adc_ring_prev(n)	(((n) - 1) & (AO_ADC_RING - 1))
+
+/*
+ * One set of samples read from the A/D converter
+ */
+struct ao_adc {
+	uint16_t	tick;		/* tick when the sample was read */
+	int16_t		accel;		/* accelerometer */
+	int16_t		pres;		/* pressure sensor */
+	int16_t		temp;		/* temperature sensor */
+	int16_t		v_batt;		/* battery voltage */
+	int16_t		sense_d;	/* drogue continuity sense */
+	int16_t		sense_m;	/* main continuity sense */
+};
+
+#define __pdata
+#define __data
+#define __xdata
+
+enum ao_flight_state {
+	ao_flight_startup = 0,
+	ao_flight_idle = 1,
+	ao_flight_launchpad = 2,
+	ao_flight_boost = 3,
+	ao_flight_coast = 4,
+	ao_flight_apogee = 5,
+	ao_flight_drogue = 6,
+	ao_flight_main = 7,
+	ao_flight_landed = 8,
+	ao_flight_invalid = 9
+};
+
+struct ao_adc ao_adc_ring[AO_ADC_RING];
+uint8_t ao_adc_head;
+
+#define ao_led_on(l)
+#define ao_led_off(l)
+#define ao_timer_set_adc_interval(i)
+#define ao_wakeup(wchan) ao_dump_state()
+
+enum ao_igniter {
+	ao_igniter_drogue = 0,
+	ao_igniter_main = 1
+};
+
+void
+ao_ignite(enum ao_igniter igniter)
+{
+	printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
+}
+
+struct ao_task {
+	int dummy;
+};
+
+#define ao_add_task(t,f,n)
+
+#define ao_log_start()
+#define ao_log_stop()
+
+#define AO_MS_TO_TICKS(ms)	((ms) / 10)
+#define AO_SEC_TO_TICKS(s)	((s) * 100)
+
+#define AO_FLIGHT_TEST
+
+struct ao_adc ao_adc_static;
+
+FILE *emulator_in;
+
+void
+ao_dump_state(void);
+
+void
+ao_sleep(void *wchan);
+	
+#include "ao_flight.c"
+
+void
+ao_insert(void)
+{
+	ao_adc_ring[ao_adc_head] = ao_adc_static;
+	ao_adc_head = ao_adc_ring_next(ao_adc_head);
+	if (ao_flight_state != ao_flight_startup) {
+		printf("tick %04x accel %04x pres %04x\n", 
+		       ao_adc_static.tick,
+		       ao_adc_static.accel,
+		       ao_adc_static.pres);
+	}
+}
+
+static int	ao_records_read = 0;
+
+void
+ao_sleep(void *wchan)
+{
+	ao_dump_state();
+	if (wchan == &ao_adc_ring) {
+		char		type;
+		uint16_t	tick;
+		uint16_t	a, b;
+		int		ret;
+
+		for (;;) {
+			if (ao_records_read > 20 && ao_flight_state == ao_flight_startup)
+			{
+				ao_insert();
+				return;
+			}
+
+			ret = fscanf(emulator_in, "%c %hx %hx %hx\n", &type, &tick, &a, &b);
+			if (ret == EOF) {
+				ao_insert();
+				return;
+			}
+			if (ret != 4)
+				continue;
+			switch (type) {
+			case 'F':
+				break;
+			case 'S':
+				break;
+			case 'A':
+				ao_adc_static.tick = tick;
+				ao_adc_static.accel = a;
+				ao_adc_static.pres = b;
+				ao_records_read++;
+				ao_insert();
+				return;
+			case 'T':
+				ao_adc_static.tick = tick;
+				ao_adc_static.temp = a;
+				ao_adc_static.v_batt = b;
+				break;
+			case 'D':
+			case 'G':
+			case 'N':
+			case 'W':
+			case 'H':
+				break;
+			}
+		}
+		
+	}
+}
+
+const char const * const ao_state_names[] = {
+	"startup", "idle", "pad", "boost", "coast",
+	"apogee", "drogue", "main", "landed", "invalid"
+};
+
+static int16_t altitude[2048] = {
+#include "altitude.h"
+};
+
+#define GRAVITY 9.80665
+#define COUNTS_PER_G 264.8
+
+void
+ao_dump_state(void)
+{
+	if (ao_flight_state == ao_flight_startup)
+		return;
+	printf ("\t%s accel %g vel %g alt %d\n",
+		ao_state_names[ao_flight_state],
+		(ao_flight_accel - ao_ground_accel) / COUNTS_PER_G * GRAVITY,
+		(double) ao_flight_vel,
+		altitude[ao_flight_pres >> 4]);
+	if (ao_flight_state == ao_flight_landed)
+		exit(0);
+}
+
+int
+main (int argc, char **argv)
+{
+	emulator_in = fopen (argv[1], "r");
+	if (!emulator_in) {
+		perror(argv[1]);
+		exit(1);
+	}
+	ao_flight_init();
+	ao_flight();
+}